Abstract
This paper investigates the problem of attitude control and disturbance rejection of rigid spacecraft in the presence of parameter uncertainty. The Modified Rodrigues Parameter (MRP) is used along with its associated shadow set as the kinematic variables since it forms a nonsingular set for all possible rotations. The parameter uncertainty caused by the unknown inertia matrix is handled by combining the semitensor product and adaptive control method. Then the synergetic optimal controller (SOC) is designed. This adaptive optimal attitude control algorithm can eliminate inertia parameters' uncertainty and reject disturbance with zero steady-state error and they have optimality property with respect to a meaningful cost functional. Simulation results are employed to confirm the effectiveness of the proposed approach.
Published Version
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